Indoor UAV positioning using stereo vision sensor

Mohd Mustafah, Yasir and Azman, Amelia Wong and Akbar, Fajril (2012) Indoor UAV positioning using stereo vision sensor. Procedia Engineering, 41. 575 - 579. ISSN 1877-7058

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Abstract

The UAV system has becoming increasingly popular in the application such as surveillance, reconnaissance, mapping and many more. Different from guided vehicles, which rely on the pilot to navigate the system, UAV relies on autonomous control to provide this functionality. Hence, precise feedback on the position of the UAV is very important. Unlike outdoor positioning, there are no standard, low cost indoor positioning systems available. Hence, we proposed to utilize a stereo vision sensor as an indoor positioning system for our UAVs. The system utilizes two video cameras for stereo vision capture and set of fast algorithms so that position information can be obtained in real-time. Experiment conducted shows that the system could provide a reliable accuracy in real-time.

Item Type:	Article (Journal)
Additional Information:	5107/28269. International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012)
Uncontrolled Keywords:	UAV, Indoor Localization, Stereo Vision.
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering
Depositing User:	Dr Yasir Mohd Mustafah
Date Deposited:	09 Jan 2013 14:21
Last Modified:	19 Feb 2013 11:29
URI:	http://irep.iium.edu.my/id/eprint/28269

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